CN108326832A - A kind of five degree of freedom high speed parallel robot - Google Patents
A kind of five degree of freedom high speed parallel robot Download PDFInfo
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- CN108326832A CN108326832A CN201810327041.XA CN201810327041A CN108326832A CN 108326832 A CN108326832 A CN 108326832A CN 201810327041 A CN201810327041 A CN 201810327041A CN 108326832 A CN108326832 A CN 108326832A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
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Abstract
一种五自由度高速并联机器人,包括静平台51、动平台部件1、第四轴部件2、第五轴部件3、四臂机构4；所述的动平台部件1包括动平台Ⅰ11、动平台Ⅱ12；所述的第四轴部件2包括主电机21、万向联轴节23和空心轴24；所述的第五轴部件3包括螺栓30、压板31、滚珠衬套32、齿条33、滑块35，导轨34，齿轮36，摆动轴37,齿条33和摆动轴37上固定的齿轮36相啮合；所述的四臂机构4包括副电机41以及上臂43、下臂44，本发明所述的高速并联机器人具有五个自由度，具有灵巧性高，成本低，结构简单、可靠性高、工作空间大等优点，能够完成更复杂的动作；第五自由度采用齿条和齿轮传动，传动效率高，定位精度高等优点。
A five-degree-of-freedom high-speed parallel robot includes a static platform 51, a moving platform component 1, a fourth axis component 2, a fifth axis component 3, and a four-arm mechanism 4. The moving platform component 1 includes a moving platform I 11 and a moving platform II 12. The fourth axis component 2 includes a main motor 21, a universal joint 23, and a hollow shaft 24. The fifth axis component 3 includes bolts 30, pressure plates 31, ball bushings 32, racks 33, sliders 35, guide rails 34, gears 36, and a swing shaft 37, with the rack 33 meshing with the gear 36 fixed on the swing shaft 37. The four-arm mechanism 4 includes an auxiliary motor 41, an upper arm 43, and a lower arm 44. The high-speed parallel robot of this invention has five degrees of freedom and has advantages such as high dexterity, low cost, simple structure, high reliability, and large workspace, enabling it to perform more complex actions. The fifth degree of freedom uses rack and pinion transmission, which has advantages such as high transmission efficiency and high positioning accuracy.
Description
Technical Field
The invention belongs to the field of robot design, and particularly relates to a five-degree-of-freedom high-speed parallel robot.
Background
The parallel robot is widely applied to industries such as food, medicine, daily chemicals and electronics, and is mainly used for procedures such as packaging and sorting. The traditional Delta parallel robot has only four degrees of freedom, namely: the four degrees of freedom limit the application field of the parallel robot in a small application scene, and large-scale automatic production cannot be realized in a plurality of production lines.
PIERROT et al propose an H4 parallel mechanism with four sets of upper and lower arms, two moving platforms (US20090019960 and EP1084802) which eliminates the fourth axis of the Delta linkage, uses relative movement of the four sets of upper and lower arms to achieve rotational movement about a vertical axis, and still has four degrees of freedom. The moving platform of the mechanism is complex in structure and is not beneficial to smooth operation.
Disclosure of Invention
Aiming at the defects of the prior art, the invention solves the problems by the following technical scheme:
a five-degree-of-freedom high-speed parallel robot includes: the device comprises a static platform, a movable platform part, a fourth shaft part, a fifth shaft part and a four-arm mechanism; the movable platform part comprises a movable platform I and a movable platform II.
The fourth shaft component comprises a main motor with a main speed reducer, a universal coupling is connected to the main motor through the main speed reducer 22, the universal coupling is fixedly connected with a shaft head of the hollow shaft, and the lower end of the hollow shaft is arranged in the gear box.
The fifth shaft component comprises a bolt, a pressing plate, a ball bushing, a rack, a sliding block, a guide rail, a gear and a swinging shaft, wherein the thread of the bolt is screwed into a threaded hole in the upper part of the rack, the bolt, the pressing plate, the ball bushing and the rack are fixedly connected into a whole, the rack is meshed with the gear fixed on the swinging shaft, and the sliding block is installed on the inner side of the gear box.
The four-arm mechanism comprises an auxiliary motor with an auxiliary speed reducer, an upper arm connected with the auxiliary speed reducer, and a lower arm connected with the upper arm through an elastic element and a ball head, wherein the lower arm is connected with the movable platform part through the ball head.
The four-arm mechanism comprises four sets of upper arms and lower arms, wherein two opposite lower arms are respectively connected with ball heads at two ends of the movable platform I, and the other two opposite lower arms are respectively connected with ball heads at two ends of the movable platform II.
The center parts of the movable platform I and the movable platform II are provided with circular holes, bearings are installed in the circular holes and used for positioning the hollow shaft, and pressing covers are installed on the outer sides of the bearings.
The hollow shaft penetrates through circular holes of the movable platform I and the movable platform II and is movably connected with the movable platform through a bearing.
The hollow shaft is provided with rectangular shape notch I and notch II that link up, and notch I is used for the installation clamp plate, and notch II is used for gear and rack toothing.
The motor is fixed on the static platform, the auxiliary motor is circumferentially fixed on the static platform, and one end of the swing shaft is provided with a flange.
Further, each lower arm comprises two connecting rods, and connecting parts of the two connecting rods, the ball head and the movable platform part form a parallelogram.
Furthermore, one end of the swinging shaft is provided with a flange.
The invention has the beneficial effects that:
the high-speed parallel robot has five degrees of freedom, has one more degree of freedom compared with a four-degree-of-freedom parallel robot, has the advantages of higher flexibility, low cost, simple structure, high reliability, large working space and the like, and can complete more complex actions; the fifth degree of freedom adopts rack and gear transmission, and has the advantages of high transmission efficiency, high positioning precision and the like.
Drawings
Fig. 1 is a schematic structural view of the present invention.
FIG. 2 is a schematic structural diagram of a movable platform component, a fourth shaft component and a fifth shaft component of the invention.
FIG. 3 is a schematic structural diagram of the movable platform component of the present invention.
FIG. 4 is a sectional view of the movable platform part A of the present invention.
FIG. 5 is a vertical cross-sectional view of the moving platform member, fourth shaft member and fifth shaft member of the present invention.
Fig. 6 is a schematic structural view of an empty fifth shaft component of the present invention.
Fig. 7 is a schematic structural view of the four-arm mechanism of the present invention.
Fig. 8 is a schematic structural view of a hollow shaft of the present invention.
Wherein,
1-moving platform part, 11-moving platform I, 12-moving platform II; 2-a fourth shaft component, 22-a main speed reducer, 21-a main motor, 23-a universal coupling, 24-a hollow shaft, 241-a notch I, 242-a notch II and 25-a gear box; 3-fifth shaft component, 30-bolt, 31-pressure plate, 32-ball bushing, 33-rack, 35-slide block, 34-guide rail, 36-gear, 37-oscillating shaft; 4-four-arm mechanism, 41-auxiliary motor, 42-auxiliary speed reducer, 43-upper arm, 44-lower arm, 441-connecting rod; 51-static platform, 52-elastic element, 53-ball head, 54-bearing and 55-gland.
Detailed Description
The invention is further described with reference to the following drawings and detailed description.
The five-degree-of-freedom high-speed parallel robot comprises: the device comprises a static platform 51, a movable platform part 1, a fourth shaft part 2, a fifth shaft part 3 and a four-arm mechanism 4; the movable platform component 1 comprises a movable platform I11 and a movable platform II 12.
The fourth shaft component 2 comprises a main motor 21 with a main speed reducer 22, a universal coupling 23 connected to the main motor 21 through the main speed reducer 22, the universal coupling 23 fixedly connected with a shaft head of a hollow shaft 24, and the lower end of the hollow shaft 24 is arranged in a gear box 25.
The fifth shaft component 3 comprises a bolt 30, a pressure plate 31, a ball bushing 32, a rack 33, a sliding block 35, a guide rail 34, a gear 36 and a swinging shaft 37, wherein the thread of the bolt 30 is screwed into a threaded hole in the upper part of the rack 33, the bolt 30, the pressure plate 31, the ball bushing 32 and the rack 33 are fixedly connected into a whole, the whole can slide up and down in the hollow shaft under the guiding action of the ball bushing 32, the rack 33 is meshed with the gear 36 fixed on the swinging shaft 37, and the sliding block 35 is installed on the inner side of the gear box 25.
The four-arm mechanism 4 comprises an auxiliary motor 41 with an auxiliary speed reducer 42 andby passingAn upper arm 43 connected to the sub-reduction gear 42, and a lower arm 43 passing throughThe lower arm 44 is connected with the movable platform part 1 through the ball 53, each lower arm 44 comprises two connecting rods 441, the ball 53 is fixed on the movable platform part I through threads, and the connecting parts among the two connecting rods 441, the ball 53 and the movable platform part 1 form a parallelogram.
As shown in fig. 2, X, Y is oriented in two directions perpendicular to each other in the horizontal plane, and the Z direction is oriented in the vertical direction perpendicular to the X, Y direction.
As shown in fig. 3, the axis of the hollow shaft 24 is defined as a first rotation axis 24a, and the degree of freedom of rotation about the first rotation axis 24a is defined as a fourth degree of freedom. The axis of the gear 36 is defined as a second rotation axis 36a, and the degree of freedom of rotation about the second rotation axis 36a is defined as a fifth degree of freedom.
As shown in fig. 7, along the circumferential direction of the stationary platform 51, four sets of upper and lower arms are respectively referred to as an upper arm 43a and a lower arm 44a, an upper arm 43b and a lower arm 44b, an upper arm 43c and a lower arm 44c, and an upper arm 43d and a lower arm 44d, the lower arm 44a and the lower arm 44c are respectively connected to two ends of the movable platform i 11, and the lower arm 44b and the lower arm 44d are respectively connected to two ends of the movable platform ii 12.
The center parts of the movable platform I and the movable platform II are provided with circular holes, bearings 54 are installed in the circular holes and used for positioning the hollow shaft 24, and pressing covers 55 are installed on the outer sides of the bearings and used for fixing and protecting the bearings.
The hollow shaft 24 penetrates through circular holes of the movable platform I11 and the movable platform II 12 and is movably connected with the movable platform through a bearing 54.
The hollow shaft 24 is provided with a through elongated notch I241 and a notch II 242, the notch I241 is used for installing the pressing plate 31, and the notch II 242 is used for meshing the gear 36 and the rack 33.
A guide for moving the rack 33 and the guide rail 34 up and down; the main motor 21 is fixed on the static platform 51, and the auxiliary motor 41 is fixed on the static platform 51 in a surrounding manner; one end of the swing shaft 37 is provided with a flange 371 which is used as a mounting surface for connecting an external material by the robot.
The high-speed parallel robot has five degrees of freedom, has one more degree of freedom compared with a four-degree-of-freedom parallel robot, has the advantages of higher flexibility, low cost, simple structure, high reliability, large working space and the like, and can complete more complex actions; the fifth degree of freedom adopts rack and gear transmission, and has the advantages of high transmission efficiency, high positioning precision and the like.
The working principle is as follows:
the four auxiliary motors 41 drive the upper arm 43 to swing, the upper arm 43 drives the lower arm 44 to move, the lower arm 44a and the lower arm 44c drive the movable platform I11 to move, the lower arm 44b and the lower arm 44d drive the movable platform II 12 to move, the four auxiliary motors 41 can realize the translational motion of the two movable platforms along the XYZ direction through different rotation speeds and angles, and the translational motion in the three directions is the rotation with three degrees of freedom.
The main motor 21 on the fourth shaft member drives the hollow shaft 24 and the gear box 25 to rotate about the first rotation shaft 24a through the speed reducer 22 and the universal joint 23, thereby achieving the fourth degree of freedom rotation.
The four auxiliary motors 41 can also realize the up-and-down motion of the movable platform II 12 relative to the movable platform I11 through different rotating speeds and angles, namely: the movable platform II 12 drives the pressing plate 31, and further drives the ball bush 32, the rack 33 and the guide rail 34 to move up and down in the hollow shaft 24 relative to the movable platform I11, and the gear 36 converts the linear motion of the rack 33 into the rotary motion of the gear 36 and the swing shaft 37 around the second rotating shaft 36a, so that the rotation with the fifth degree of freedom is realized.
Technical features not described in the present invention can be implemented by the prior art, and are not described in detail herein. The above description is only for the preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and those skilled in the art should also make changes, modifications, additions or substitutions within the spirit and scope of the present invention.
Claims (3)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810327041.XA CN108326832A (en) | 2018-04-12 | 2018-04-12 | A kind of five degree of freedom high speed parallel robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810327041.XA CN108326832A (en) | 2018-04-12 | 2018-04-12 | A kind of five degree of freedom high speed parallel robot |
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| Publication Number | Publication Date |
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| CN108326832A true CN108326832A (en) | 2018-07-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810327041.XA Withdrawn CN108326832A (en) | 2018-04-12 | 2018-04-12 | A kind of five degree of freedom high speed parallel robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110421545A (en) * | 2019-08-20 | 2019-11-08 | 四川建筑职业技术学院 | A kind of parallel mechanical arm grabbing device of pyramidal structure |
| CN112476412A (en) * | 2020-11-17 | 2021-03-12 | 派罗(廊坊)机器人科技有限公司 | Four-degree-of-freedom robot |
| CN116748834A (en) * | 2023-08-08 | 2023-09-15 | 长春华涛汽车塑料饰件有限公司 | An automatic installation buckle device for the sub-instrument panel |
-
2018
- 2018-04-12 CN CN201810327041.XA patent/CN108326832A/en not_active Withdrawn
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110421545A (en) * | 2019-08-20 | 2019-11-08 | 四川建筑职业技术学院 | A kind of parallel mechanical arm grabbing device of pyramidal structure |
| CN112476412A (en) * | 2020-11-17 | 2021-03-12 | 派罗(廊坊)机器人科技有限公司 | Four-degree-of-freedom robot |
| CN116748834A (en) * | 2023-08-08 | 2023-09-15 | 长春华涛汽车塑料饰件有限公司 | An automatic installation buckle device for the sub-instrument panel |
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Application publication date: 20180727 |
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